It represents the location
of data. To read from or write data to Control Table, the user should
assign the correct address in the Instruction Packet.

Access

Dynamixel has two kinds of
data: Read-only data, which is mainly used for sensing, and Read-and-Write
data, which is used for driving.

Initial
Value

In case of data in the EEPROM
Area, the initial values on the right side of the below Control Table
are the factory default settings. In case of data in the RAM Area, the
initial values on the right side of the above Control Tables are the ones
when the power is turned on.

Highest/Lowest
Byte

In the Control table, some
data share the same name, but they are attached with (L) or (H) at the
end of each name to distinguish the address. This data requires 16bit,
but it is divided into 8bit each for the addresses (low) and (high). These
two addresses should be written with one Instruction Packet at the same
time.

Multi-turn mode allows joints
have range of controllable position values from -28672 to 28672.

Multi Turn
Offset

Adjusts position (zeroing).
This value gets included in Present Position (36).

Present position + multi-turn
offset.

Initial value is 0 and range
is from -24576 to 24576

A Dynamixel with a position
of 2048 with an applied offset of 1024 outputs a Present position
of 3072.

Note: This feature
is only applied in multi-turn mode and ignored in other modes.

Resolution
Divider

It
allows the user to change Dynamixel’s resolution.

The
default Resolution Divider Value is set as 1. (1 ~ 4 available)

When
resolution is lowered, revolutions (in both directions) can be increased
(up to 28 turns in each direction).

Present
Position = Real Position / Resolution Divider

For
example, a Real Position of 2048 with a Resolution Divider set as
2 will yield a Present Position value of 1024 (2048/2 = 1024). A Dynamixel
with Resolution Divider set as 2 will have a resolution 2048 for a
single revolution.

The
Present Position can be obtained while Multi-turn Offset and Resolution
Divider are taken into account.

For example, a Dynamixel with a Real
Position of 2048 with a Resolution Divider set as 4 and Multi-turn
Offset as 1024 will yield a Present Position of 1535 ((2048/4) + 1024
= 1535).

Note: This feature
is only applied in multi-turn mode and ignored in other modes.

Drive Mode

Drive
mode is set for Dynamixel.

Bit

Name

Contents

Bit
7

N/A

-

Bit
6

N/A

-

Bit
5

N/A

-

Bit
4

N/A

-

Bit
3

N/A

-

Bit
2

N/A

-

Bit
1

Master/Slave
Mode

In
case of 0: Master mode, In case of 1 : Slave mode

Bit
0

Normal/Reverse
Mode

In
case of 0: Normal mode, In case of 1: Reverse mode

Master
Mode
In case of being used as dual joints, it is set to designate as
master.

Slave Mode
In case of being used as dual joints, it is set to designate as
slave.

General ModeSets
the direction of rotation to set direction.Reads
normal data values from position.

Reverse ModeSets
the direction of rotation opposite to set direction.Reads
inverse data values from position.

Notes : Reverse
mode is to change the actual rotation direction reversely.
It can be used conveniently when the robot with symmetrical
joints layout is built.

Dual Joints

Dual joints
are used as 1 joint by controlling 2 motors simultaneously.

To use
the dual joints, 1 unit of motor set in master mode and 1 unit of
motor set in slave mode are needed.

Next,
the motors must be connected to each other using synchronization cable.

Normal mode synch cable: Drives Master
and PWM signals synchronized

Reverse mode synch cable: Drives PWM
signals in reverse.

Notes : Slave
is synchronized by directly receiving the control command
through synchronization cable from Master. Slave Mode
unit responds to communication through command packets, but
data related to motor drive are processed only through the
synchronization.

For reference: in
a dual master-slave configuration position information from the
slave is ignored and the position of the dual configuration is
based on the master in PWM control.

When master and slave
are not physically connected the is a slight difference on the
driven load.

Use the frames shown
below to achieve dual configuration

The Highest
Limit Temperature

Caution : Do
not set the temperature lower/higher than the default value.

When the temperature
alarm shutdown occurs, wait 20 minutes to cool the temperature
before re-use.

Using the product
when the temperature is high may and can cause damage.

The Lowest
(Highest) Limit Voltage

It is the
operation range of voltage.

50 to 160
(0x32 ~ 0xA0) can be used. The unit is 0.1V.

For example,
if the value is 80, it is 8V.

If Present
Voltage (Address42) is out of the range, Voltage Range Error Bit (Bit0)
of Status Packet is returned as ‘1’ and Alarm is triggered as set
in the addresses 17 and 18.

Max
Torque

It is
the torque value of maximum output. 0 to 1023 (0x3FF) can be used,
and the unit is about 0.1%.

For example,
Data 1023 (0x3FF) means that Dynamixel will use 100% of the maximum
torque it can produce while Data 512 (0x200) means that Dynamixel
will use 50% of the maximum torque. When the power is turned on, Torque
Limit (Addresses 34 and 35) uses the value as the initial value.

Status Return
Level

It decides
how to return Status Packet. There are three ways like the below table.

Value

Return
of Status Packet

0

No
return against all commands (Except PING Command)

1

Return
only for the READ command

2

Return
for all commands

When Instruction
Packet is Broadcast ID, Status Packet is not returned regardless
of Status Return Level.

Alarm LED

Alarm Shutdown

DYNAMIXEL can protect itself
by detecting errors occur during the operation. The errors can be set
are as the table below.

Bit

Name

Contents

Bit 7

0

-

Bit 6

Instruction Error

When
undefined Instruction is transmitted or the Action command is
delivered without

the
reg_write command

Bit 5

Overload Error

When
the current load cannot be controlled with the set maximum torque

Bit 4

CheckSum Error

When
the Checksum of the transmitted Instruction Packet is invalid

Bit 3

Range Error

When
out-of-range value for target address is detected in the packet

Bit 2

Overheating Error

When
the internal temperature is out of the range of operating temperature
set in

the
Control Table

Bit 1

Angle Limit Error

When
Goal Position is written with the value that is not between CW
Angle Limit and CCW

Angle
Limit

Bit 0

Input Voltage
Error

When
the applied voltage is out of the range of operating voltage set
in the Control Table

It is possible to make duplicate
set since the function of each bit is run by the logic of ‘OR’.

That is, if 0X05 (binary
00000101) is set, both Input Voltage Error and Overheating Error can be
detected.

When Alarm LED occurs, the
LED blinks and when Alarm Shutdown occurs, the motor output becomes 0
% by making the value of Torque Limit (Address 34, 35) as 0.

RAM Area

Torque Enable

Value

Meaning

0

Keeps
Torque from generating by interrupting the power of motor.

1

Generates
Torque by impressing the power to the motor.

LED

Bit

Meaning

0

Turn
OFF the LED

1

Turn
ON the LED

PID Gain

MX series will use the PID controller
as a main control method.

P gain refers to the value of
proportional band.

I gain refers to the value of
integral action.

D Gain refers to the value of
derivative action.

Gains values are in between
0~254.

※
The
relationship between Compliance Slop and PID

Slope

P Gain

8

128

16

64

32

32

64

16

128

8

The
less the P gain, The larger the back lash, and the weaker the
amount of output near goal position.

At
some extent, it is like a combined concept of margine and slope.

It
does not exactly match the previous concept of compliance. So
it is obvious if you see the difference in terms of motion.

※ Explanation
for PID required.

For
the brief explanation about general PID, please refer to the website(link)
below.

FYI,
PID control theory is not only limited to the control of motor(actuator)
but is a generic theory that can be applied to all kinds of control.

Goal Position

It is a position
value of destination.

0 to 4095
(0xFFF) is available. The unit is 0.088 degree.

If Goal Position
is out of the range, Angle Limit Error Bit (Bit1) of Status Packet is
returned as ‘1’ and Alarm is triggered as set in Alarm LED/Shutdown.

Moving Speed

Join
Mode, Multi-Turn mode
It is a moving speed to Goal Position.
0~1023 (0X3FF) can be used, and the unit is about 0.114rpm.
If it is set to 0, it means the maximum rpm of the motor is used without
controlling the speed.
If it is 1023, it is about 117.07rpm.
For example, if it is set to 300, it is about 34.33 rpm.

Wheel
Mode
It is a moving speed to Goal direction.
0~2047 (0X7FF) can be used, and the unit is about 0.114rpm.
If a value in the range of 0~1023 is used, it is stopped by setting
to 0 while rotating to CCW direction.
If a value in the range of 1024~2047 is used, it is stopped by setting
to 1024 while rotating to CW direction.
That is, the 10th bit becomes the direction bit to control the direction.

Note: This mode
allows to check max rpm. Any values set higher than max rpm will
not take effect.

Torque Limit

It is the value of the maximum
torque limit.

0 to 1023 (0x3FF) is available,
and the unit is about 0.1%.

For example, if the value
is 512, it is about 50%; that means only 50% of the maximum torque
will be used.
If the power is turned on, the value of Max Torque (Address 14, 15)
is used as the initial value.

Notes: If the
function of Alarm Shutdown is triggered, the motor loses its
torque because the value becomes 0. At this moment,
if the value is changed to the value other than 0, the motor
can be used again.

Present Position

It is the
current position value of Dynamixel.

The range
of the value is 0~4095 (0xFFF), and the unit is 0.088 degree.

In multi-turn
mode range is from -28672 to 28672 with unit values dependent on Resolution
Divider (0.088 * Resolution Divider)

Note: in multi-turn
mode Present position depends on resolution divider and multi-turn
offset For more information turn to the section on Multi Turn offset
and Resolution
Divider

Present Speed

Is the current
moving speed.

0~2047 (0x000~0X7FF)
can be used.

If a value
is in the rage of 0~1023 then the motor rotates to the CCW direction.

If a value
is in the rage of 1024~2047 then the motor rotates to the CW direction.

The 10th bit
becomes the direction bit to control the direction; 0 and 1024 are equal.

The value
unit is about 0.11rpm.

For example,
if it is set to 300 then the motor is moving to the CCW direction at a
rate of about 34.33rpm.

Present Load

It means
currently applied load.

The range
of the value is 0~2047, and the unit is about 0.1%.

If the
value is 0~1023, it means the load works to the CCW direction.

If the
value is 1024~2047, it means the load works to the CW direction.

That is,
the 10th bit becomes the direction bit to control the direction, and
1024 is equal to 0.

For example,
the value is 512, it means the load is detected in the direction of
CCW about 50% of the maximum torque.

Notes: Present
load is an inferred value based on the internal output value;
not a measured value using torque sensor, etc. Therefore,
it may be inaccurate for measuring weight or torque. It is
recommended to use it for predicting the direction and size
of the force being applied to the joint.

Present Voltage

It is
the size of the current voltage supplied.

This value
is 10 times larger than the actual voltage. For example, when 10V
is supplied, the data value is 100 (0x64)

Present
Temperature

It is the internal temperature
of Dynamixel in Celsius.

Data value is identical
to the actual temperature in Celsius. For example, if the data value
is 85 (0x55), the current internal temperature is 85℃.

Registered
Instruction

Value

Meaning

0

There
are no commands transmitted by REG_WRITE

1

There
are commands transmitted by REG_WRITE.

Notes: If
ACTION command is executed, the value is changed into 0.

Moving

Value

Meaning

0

Goal position
command execution is completed.

1

Goal
position command execution is in progress.

Lock

Value

Meaning

0

EEPROM
area can be modified.

1

EEPROM
area cannot be modified.

Caution:
If Lock is set to 1, the power must be turned off and then
turned on again to change into 0.

Punch

Current to drive motor is at
minimum.

Can choose vales from 0x00 to
0x3FF.

Current

Value at 2048(0x800) when current
is consumption is idle.

Values higher than 2048(0x800)
during positive current flow

Values lower than 2048(0x800)
during negative current flow

The following is a method to
calculate current flow

I = ( 4.5mA ) * (CURRENT – 2048 ) in amps unit (A).

For example, 68 gives a value
of 2148, which corresponds to 450mA of current flow.

Torque
Control Mode Enable

Value

Meaning

0

Turn off the
torque mode. Executes Joint mode or Wheel mode.

1

Turn on the torque
mode. Cannot control the position or moving speed but only Torque.

When
Torque Control Mode Enable is at 1, DYNAMIXEL behaves like the followings1. DYNAMIXEL
does not control the position or the moving speed.2.DYNAMIXEL
controls with goal torque value.3. DYNAMIXEL
does not react to whatever value in Goal position and Goal speed.4.Because
position/moving speed is not controller, DYNAMIXEL behaves as if it is
in the wheel mode.

Goal
Torque

These
are the goal torque value

You
can use 0 ~ 2047 (0x7FF), and the unit is 4.5mA.

(torque
is directly proportional to the current value.)

If
you use from 0~1023, torque is on toward CCW, and when you set it
to 0, it stops.

If
you use from 1024~2047, torque is on toward CW, and when you set it
to 1024, it stops.